Welcome to humanoid_base_footprint’s documentation!¶
Publishes a transform to the base footprint of the robot, based on the orientation and position of the feet.
The base_footprint is used as a frame for navigation. It represents the position and orientation of the whole robot. A more elaborate description of this concept is described in REP120.
/walk_support_state – std_msgs/Char
/dynamic_kick_support_state – std_msgs/Char